OpenRaiser/Intern-Atlas huggingface dataset:
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
Venue: arXiv cs.RO 2025
Year: 2025

Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile Manipulation (DMM), require the simultaneous control of locomotion, manipulation, and posture under dynamic interaction forces. This paper presents a teleoperation framework for DMM on a height-adjustable wheeled humanoid robot for carrying heavy payloads. A Human-Machine Interface (HMI) enables whole-body motion retargeting from the human pilot to the robot by capturing the motion of the human and applying haptic feedback. The pilot uses body motion to regulate robot posture and locomotion, while arm movements guide manipulation.Real time haptic feedback delivers end effector wrenches and balance related cues, closing the loop between human perception and robot environment interaction. We evaluate the different telelocomotion mappings that offer varying levels of balance assistance, allowing the pilot to either manually or automatically regulate the robot's lean in response to payload-induced disturbances. The system is validated in experiments involving dynamic lifting of barbells and boxes up to 2.5 kg (21% of robot mass), demonstrating coordinated whole-body control, height variation, and disturbance handling under pilot guidance. Video demo can be found at: https://youtu.be/jF270_bG1h8?feature=shared
Minimalist Softmax Attention Provably Learns Constrained Boolean Functions
Venue: arXiv cs.LG 2025
Year: 2025

We study the computational limits of learning $k$-bit Boolean functions (specifically, $\mathrm{AND}$, $\mathrm{OR}$, and their noisy variants), using a minimalist single-head softmax-attention mechanism, where $k=Θ(d)$ relevant bits are selected from $d$ inputs. We show that these simple $\mathrm{AND}$ and $\mathrm{OR}$ functions are unsolvable with a single-head softmax-attention mechanism alone. However, with teacher forcing, the same minimalist attention is capable of solving them. These findings offer two key insights: Architecturally, solving these Boolean tasks requires only minimalist attention, without deep Transformer blocks or FFNs. Methodologically, one gradient descent update with supervision suffices and replaces the multi-step Chain-of-Thought (CoT) reasoning scheme of [Kim and Suzuki, ICLR 2025] for solving Boolean problems. Together, the bounds expose a fundamental gap between what this minimal architecture achieves under ideal supervision and what is provably impossible under standard training.
Turing Test 2.0: The General Intelligence Threshold
Venue: arXiv cs.AI 2025
Year: 2025

With the rise of artificial intelligence (A.I.) and large language models like ChatGPT, a new race for achieving artificial general intelligence (A.G.I) has started. While many speculate how and when A.I. will achieve A.G.I., there is no clear agreement on how A.G.I. can be detected in A.I. models, even when popular tools like the Turing test (and its modern variations) are used to measure their intelligence. In this work, we discuss why traditional methods like the Turing test do not suffice for measuring or detecting A.G.I. and provide a new, practical method that can be used to decide if a system (computer or any other) has reached or surpassed A.G.I. To achieve this, we make two new contributions. First, we present a clear definition for general intelligence (G.I.) and set a G.I. Threshold (G.I.T.) that can be used to distinguish between systems that achieve A.G.I. and systems that do not. Second, we present a new framework on how to construct tests that can detect if a system has achieved G.I. in a simple, comprehensive, and clear-cut fail/pass way. We call this novel framework the Turing test 2.0. We then demonstrate real-life examples of applying tests that follow our Turing test 2.0 framework on modern A.I. models.
Few-Shot Class-Incremental Learning For Efficient SAR Automatic Target Recognition
Venue: arXiv cs.CV 2025
Year: 2025

Synthetic aperture radar automatic target recognition (SAR-ATR) systems have rapidly evolved to tackle incremental recognition challenges in operational settings. Data scarcity remains a major hurdle that conventional SAR-ATR techniques struggle to address. To cope with this challenge, we propose a few-shot class-incremental learning (FSCIL) framework based on a dual-branch architecture that focuses on local feature extraction and leverages the discrete Fourier transform and global filters to capture long-term spatial dependencies. This incorporates a lightweight cross-attention mechanism that fuses domain-specific features with global dependencies to ensure robust feature interaction, while maintaining computational efficiency by introducing minimal scale-shift parameters. The framework combines focal loss for class distinction under imbalance and center loss for compact intra-class distributions to enhance class separation boundaries. Experimental results on the MSTAR benchmark dataset demonstrate that the proposed framework consistently outperforms state-of-the-art methods in FSCIL SAR-ATR, attesting to its effectiveness in real-world scenarios.
DocMEdit: Towards Document-Level Model Editing
Venue: arXiv cs.CL 2025
Year: 2025

Model editing aims to correct errors and outdated knowledge in the Large language models (LLMs) with minimal cost. Prior research has proposed a variety of datasets to assess the effectiveness of these model editing methods. However, most existing datasets only require models to output short phrases or sentences, overlooks the widespread existence of document-level tasks in the real world, raising doubts about their practical usability. Aimed at addressing this limitation and promoting the application of model editing in real-world scenarios, we propose the task of document-level model editing. To tackle such challenges and enhance model capabilities in practical settings, we introduce \benchmarkname, a dataset focused on document-level model editing, characterized by document-level inputs and outputs, extrapolative, and multiple facts within a single edit. We propose a series of evaluation metrics and experiments. The results show that the difficulties in document-level model editing pose challenges for existing model editing methods.
Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors
Venue: arXiv cs.RO 2025
Year: 2025

To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is essential. We develop a method to realize such whole-body multi-contact motion involving contacts at intermediate areas by a humanoid robot. Deformable sheet-shaped distributed tactile sensors are mounted on the surface of the robot's limbs to measure the contact force without significantly changing the robot body shape. The multi-contact motion controller developed earlier, which is dedicated to contact at extremities, is extended to handle contact at intermediate areas, and the robot motion is stabilized by feedback control using not only force/torque sensors but also distributed tactile sensors. Through verification on dynamics simulations, we show that the developed tactile feedback improves the stability of whole-body multi-contact motion against disturbances and environmental errors. Furthermore, the life-sized humanoid RHP Kaleido demonstrates whole-body multi-contact motions, such as stepping forward while supporting the body with forearm contact and balancing in a sitting posture with thigh contacts.
WQLCP: Weighted Adaptive Conformal Prediction for Robust Uncertainty Quantification Under Distribution Shifts
Venue: arXiv cs.LG 2025
Year: 2025

Conformal prediction (CP) provides a framework for constructing prediction sets with guaranteed coverage, assuming exchangeable data. However, real-world scenarios often involve distribution shifts that violate exchangeability, leading to unreliable coverage and inflated prediction sets. To address this challenge, we first introduce Reconstruction Loss-Scaled Conformal Prediction (RLSCP), which utilizes reconstruction losses derived from a Variational Autoencoder (VAE) as an uncertainty metric to scale score functions. While RLSCP demonstrates performance improvements, mainly resulting in better coverage, it quantifies quantiles based on a fixed calibration dataset without considering the discrepancies between test and train datasets in an unexchangeable setting. In the next step, we propose Weighted Quantile Loss-scaled Conformal Prediction (WQLCP), which refines RLSCP by incorporating a weighted notion of exchangeability, adjusting the calibration quantile threshold based on weights with respect to the ratio of calibration and test loss values. This approach improves the CP-generated prediction set outputs in the presence of distribution shifts. Experiments on large-scale datasets, including ImageNet variants, demonstrate that WQLCP outperforms existing baselines by consistently maintaining coverage while reducing prediction set sizes, providing a robust solution for CP under distribution shifts.
Optimal Intervention for Self-triggering Spatial Networks with Application to Urban Crime Analytics
Venue: arXiv cs.SI 2025
Year: 2025

In many network systems, events at one node trigger further activity at other nodes, e.g., social media users reacting to each other's posts or the clustering of criminal activity in urban environments. These systems are typically referred to as self-exciting networks. In such systems, targeted intervention at critical nodes can be an effective strategy for mitigating undesirable consequences such as further propagation of criminal activity or the spreading of misinformation on social media. In our work, we develop an optimal network intervention model to explore how targeted interventions at critical nodes can mitigate cascading effects throughout a Spatiotemporal Hawkes network. Similar models have been studied previously in the literature in purely temporal Hawkes networks, but in our work, we extend them to a spatiotemporal setup and demonstrate the efficacy of our methods by comparing the post-intervention reduction in intensity to other heuristic strategies in simulated networks. Subsequently, we use our method on crime data from the LA police department database to find neighborhoods for strategic intervention to demonstrate an application in predictive policing.
Multiplicity is an Inevitable and Inherent Challenge in Multimodal Learning
Venue: arXiv cs.LG 2025
Year: 2025

Multimodal learning has seen remarkable progress, particularly with the emergence of large-scale pre-training across various modalities. However, most current approaches are built on the assumption of a deterministic, one-to-one alignment between modalities. This oversimplifies real-world multimodal relationships, where their nature is inherently many-to-many. This phenomenon, named multiplicity, is not a side-effect of noise or annotation error, but an inevitable outcome of semantic abstraction, representational asymmetry, and task-dependent ambiguity in multimodal tasks. This position paper argues that multiplicity is a fundamental bottleneck that manifests across all stages of the multimodal learning pipeline: from data construction to training and evaluation. This paper examines the causes and consequences of multiplicity, and highlights how multiplicity introduces training uncertainty, unreliable evaluation, and low dataset quality. This position calls for new research directions on multimodal learning: novel multiplicity-aware learning frameworks and dataset construction protocols considering multiplicity.
SESaMo: Symmetry-Enforcing Stochastic Modulation for Normalizing Flows
Venue: arXiv cs.LG 2025
Year: 2025

Deep generative models have recently garnered significant attention across various fields, from physics to chemistry, where sampling from unnormalized Boltzmann-like distributions represents a fundamental challenge. In particular, autoregressive models and normalizing flows have become prominent due to their appealing ability to yield closed-form probability densities. Moreover, it is well-established that incorporating prior knowledge - such as symmetries - into deep neural networks can substantially improve training performances. In this context, recent advances have focused on developing symmetry-equivariant generative models, achieving remarkable results. Building upon these foundations, this paper introduces Symmetry-Enforcing Stochastic Modulation (SESaMo). Similar to equivariant normalizing flows, SESaMo enables the incorporation of inductive biases (e.g., symmetries) into normalizing flows through a novel technique called stochastic modulation. This approach enhances the flexibility of the generative model, allowing to effectively learn a variety of exact and broken symmetries. Our numerical experiments benchmark SESaMo in different scenarios, including an 8-Gaussian mixture model and physically relevant field theories, such as the $ϕ^4$ theory and the Hubbard model.
Think Again! The Effect of Test-Time Compute on Preferences, Opinions, and Beliefs of Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

As Large Language Models (LLMs) become deeply integrated into human life and increasingly influence decision-making, it's crucial to evaluate whether and to what extent they exhibit subjective preferences, opinions, and beliefs. These tendencies may stem from biases within the models, which may shape their behavior, influence the advice and recommendations they offer to users, and potentially reinforce certain viewpoints. This paper presents the Preference, Opinion, and Belief survey (POBs), a benchmark developed to assess LLMs' subjective inclinations across societal, cultural, ethical, and personal domains. We applied our benchmark to evaluate leading open- and closed-source LLMs, measuring desired properties such as reliability, neutrality, and consistency. In addition, we investigated the effect of increasing the test-time compute, through reasoning and self-reflection mechanisms, on those metrics. While effective in other tasks, our results show that these mechanisms offer only limited gains in our domain. Furthermore, we reveal that newer model versions are becoming less consistent and more biased toward specific viewpoints, highlighting a blind spot and a concerning trend. POBS: https://ibm.github.io/POBS
DoctorAgent-RL: A Multi-Agent Collaborative Reinforcement Learning System for Multi-Turn Clinical Dialogue
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated excellent capabilities in the field of biomedical question answering, but their application in real-world clinical consultations still faces core challenges. Single-round consultation systems require patients to describe all symptoms upfront, leading to vague diagnosis with unclear complaints. Traditional multi-turn dialogue models, constrained by static supervised learning, lack flexibility and fail to intelligently extract key clinical information. To address these limitations, we propose \Ours{}, a reinforcement learning (RL)-based multi-agent collaborative framework that models medical consultations as a dynamic decision-making process under uncertainty. The doctor agent continuously optimizes its questioning strategy within the RL framework through multi-turn interactions with the patient agent, dynamically adjusting its information-gathering path based on comprehensive rewards from the Consultation Evaluator. This RL fine-tuning mechanism enables LLMs to autonomously develop interaction strategies aligned with clinical reasoning logic, rather than superficially imitating patterns in existing dialogue data. Notably, we constructed MTMedDialog, the first English multi-turn medical consultation dataset capable of simulating patient interactions. Experiments demonstrate that \Ours{} outperforms existing models in both multi-turn reasoning capability and final diagnostic performance. This approach shows immense practical value by reducing misdiagnosis risks in time-pressured settings, freeing clinicians for complex cases, and pioneering a strategy to optimize medical resource allocation and alleviate workforce shortages. Code and data are available at https://github.com/JarvisUSTC/DoctorAgent-RL
STOPA: A Database of Systematic VariaTion Of DeePfake Audio for Open-Set Source Tracing and Attribution
Venue: arXiv cs.SD 2025
Year: 2025

A key research area in deepfake speech detection is source tracing - determining the origin of synthesised utterances. The approaches may involve identifying the acoustic model (AM), vocoder model (VM), or other generation-specific parameters. However, progress is limited by the lack of a dedicated, systematically curated dataset. To address this, we introduce STOPA, a systematically varied and metadata-rich dataset for deepfake speech source tracing, covering 8 AMs, 6 VMs, and diverse parameter settings across 700k samples from 13 distinct synthesisers. Unlike existing datasets, which often feature limited variation or sparse metadata, STOPA provides a systematically controlled framework covering a broader range of generative factors, such as the choice of the vocoder model, acoustic model, or pretrained weights, ensuring higher attribution reliability. This control improves attribution accuracy, aiding forensic analysis, deepfake detection, and generative model transparency.
Modality Curation: Building Universal Embeddings for Advanced Multimodal Information Retrieval
Venue: arXiv cs.CV 2025
Year: 2025

Multimodal information retrieval (MIR) faces inherent challenges due to the heterogeneity of data sources and the complexity of cross-modal alignment. While previous studies have identified modal gaps in feature spaces, a systematic approach to address these challenges remains unexplored. In this work, we introduce UNITE, a universal framework that tackles these challenges through two critical yet underexplored aspects: data curation and modality-aware training configurations. Our work provides the first comprehensive analysis of how modality-specific data properties influence downstream task performance across diverse scenarios. Moreover, we propose Modal-Aware Masked Contrastive Learning (MAMCL) to mitigate the competitive relationships among the instances of different modalities. Our framework achieves state-of-the-art results on multiple multimodal retrieval benchmarks, outperforming existing methods by notable margins. Through extensive experiments, we demonstrate that strategic modality curation and tailored training protocols are pivotal for robust cross-modal representation learning. This work not only advances MIR performance but also provides a foundational blueprint for future research in multimodal systems. Our project is available at https://friedrichor.github.io/projects/UNITE.
A Fluorescent Material Model for Non-Spectral Editing & Rendering
Venue: arXiv cs.GR 2025
Year: 2025

Fluorescent materials are characterized by a spectral reradiation toward longer wavelengths. Recent work [Fichet et al. 2024] has shown that the rendering of fluorescence in a non-spectral engine is possible through the use of appropriate reduced reradiation matrices. But the approach has limited expressivity, as it requires the storage of one reduced matrix per fluorescent material, and only works with measured fluorescent assets. In this work, we introduce an analytical approach to the editing and rendering of fluorescence in a non-spectral engine. It is based on a decomposition of the reduced reradiation matrix, and an analytically-integrable Gaussian-based model of the fluorescent component. The model reproduces the appearance of fluorescent materials accurately, especially with the addition of a UV basis. Most importantly, it grants variations of fluorescent material parameters in real-time, either for the editing of fluorescent materials, or for the dynamic spatial variation of fluorescence properties across object surfaces. A simplified one-Gaussian fluorescence model even allows for the artist-friendly creation of plausible fluorescent materials from scratch, requiring only a few reflectance colors as input.
Large Language Models for Planning: A Comprehensive and Systematic Survey
Venue: arXiv cs.AI 2025
Year: 2025

Planning represents a fundamental capability of intelligent agents, requiring comprehensive environmental understanding, rigorous logical reasoning, and effective sequential decision-making. While Large Language Models (LLMs) have demonstrated remarkable performance on certain planning tasks, their broader application in this domain warrants systematic investigation. This paper presents a comprehensive review of LLM-based planning. Specifically, this survey is structured as follows: First, we establish the theoretical foundations by introducing essential definitions and categories about automated planning. Next, we provide a detailed taxonomy and analysis of contemporary LLM-based planning methodologies, categorizing them into three principal approaches: 1) External Module Augmented Methods that combine LLMs with additional components for planning, 2) Finetuning-based Methods that involve using trajectory data and feedback signals to adjust LLMs in order to improve their planning abilities, and 3) Searching-based Methods that break down complex tasks into simpler components, navigate the planning space, or enhance decoding strategies to find the best solutions. Subsequently, we systematically summarize existing evaluation frameworks, including benchmark datasets, evaluation metrics and performance comparisons between representative planning methods. Finally, we discuss the underlying mechanisms enabling LLM-based planning and outline promising research directions for this rapidly evolving field. We hope this survey will serve as a valuable resource to inspire innovation and drive progress in this field.
Beyond Safe Answers: A Benchmark for Evaluating True Risk Awareness in Large Reasoning Models
Venue: arXiv cs.AI 2025
Year: 2025

Despite the remarkable proficiency of \textit{Large Reasoning Models} (LRMs) in handling complex reasoning tasks, their reliability in safety-critical scenarios remains uncertain. Existing evaluations primarily assess response-level safety, neglecting a critical issue we identify as \textbf{\textit{Superficial Safety Alignment} (SSA)} -- a phenomenon where models produce superficially safe outputs while internal reasoning processes fail to genuinely detect and mitigate underlying risks, resulting in inconsistent safety behaviors across multiple sampling attempts. To systematically investigate SSA, we introduce \textbf{Beyond Safe Answers (BSA)} bench, a novel benchmark comprising 2,000 challenging instances organized into three distinct SSA scenario types and spanning nine risk categories, each meticulously annotated with risk rationales. Evaluations of 19 state-of-the-art LRMs demonstrate the difficulty of this benchmark, with top-performing models achieving only 38.0\% accuracy in correctly identifying risk rationales. We further explore the efficacy of safety rules, specialized fine-tuning on safety reasoning data, and diverse decoding strategies in mitigating SSA. Our work provides a comprehensive assessment tool for evaluating and improving safety reasoning fidelity in LRMs, advancing the development of genuinely risk-aware and reliably safe AI systems.